ompl::geometric::XXLDecomposition Class Referenceabstract

Inheritance diagram for ompl::geometric::XXLDecomposition:

## Public Member Functions | |

XXLDecomposition () | |

Constructor. | |

virtual int | getNumRegions () const =0 |

Returns the number of regions in this XXLDecomposition. | |

virtual int | getDimension () const =0 |

Return the dimension of this XXLDecomposition. | |

virtual int | numLayers () const =0 |

Return the number of layers possible in this decomposition. Must be at least 1. | |

virtual int | locateRegion (const base::State *s) const =0 |

Returns the index of the region containing a given State. Most often, this is obtained by first calling project(). Returns -1 if no region contains the State. | |

virtual int | locateRegion (const std::vector< double > &coord) const =0 |

Return the region that this coordinate lies in. Returns -1 if this coord is out of bounds. | |

virtual void | getNeighbors (int rid, std::vector< int > &neighbors) const =0 |

Stores the given region's neighbors into a given vector. These are adjacent neighbors. | |

virtual void | getNeighborhood (int rid, std::vector< int > &neighborhood) const |

Return a list of regions in the neighborhood of rid. This method is intended to retrieve all regions with in a 'radius'. This method should return a superset of getNeighbors (or equal). The neighborhood may or not be adjacent regions. Think of this as the 8-connected neighborhood of a grid, and getNeighbors as the 4-connected neighborhood of a grid. | |

virtual double | distanceHeuristic (int r1, int r2) const =0 |

An admissible and consistent distance heuristic between two regions. | |

virtual bool | sampleFromRegion (int r, base::State *s, const base::State *seed=nullptr) const =0 |

Sample a state s from region r in layer 0. | |

virtual bool | sampleFromRegion (int r, base::State *s, const base::State *seed, int layer) const =0 |

Sample a state s from region r in the given layer. | |

virtual void | project (const base::State *s, std::vector< double > &coord, int layer=0) const =0 |

Project the given State into the XXLDecomposition. | |

virtual void | project (const base::State *s, std::vector< int > &layers) const =0 |

Project the state into the decomposition and retrieve the region for all valid layers. | |

virtual bool | canSteer () const |

Returns true if the method steerToRegion is available. | |

virtual bool | steerToRegion (int, int, const ompl::base::State *, std::vector< ompl::base::State * > &) const |

## Detailed Description

Definition at line 123 of file XXLDecomposition.h.

The documentation for this class was generated from the following file:

- ompl/geometric/planners/xxl/XXLDecomposition.h